89 lines
3.3 KiB
C
89 lines
3.3 KiB
C
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/*
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底盘控制任务
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控制底盘行为。
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从CAN总线接收底盘电机反馈，根据接收到的控制命令，控制电机输出。
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*/
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/* Includes ----------------------------------------------------------------- */
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#include "component\limiter.h"
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#include "module\chassis.h"
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#include "module\config.h"
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#include "task\user_task.h"
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/* Private typedef ---------------------------------------------------------- */
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/* Private define ----------------------------------------------------------- */
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/* Private macro ------------------------------------------------------------ */
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/* Private variables -------------------------------------------------------- */
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static CAN_t can;
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#ifdef DEBUG
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CMD_ChassisCmd_t chassis_cmd;
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Chassis_t chassis;
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CAN_ChassisOutput_t chassis_out;
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CAN_Capacitor_t cap;
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Referee_ForChassis_t referee_chassis;
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Referee_ChassisUI_t chassis_ui;
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#else
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static CMD_ChassisCmd_t chassis_cmd;
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static Chassis_t chassis;
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static CAN_ChassisOutput_t chassis_out;
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static CAN_Capacitor_t cap;
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static Referee_ForChassis_t referee_chassis;
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static Referee_ChassisUI_t chassis_ui;
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#endif
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/* Private function --------------------------------------------------------- */
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/* Exported functions ------------------------------------------------------- */
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/**
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* \brief 控制底盘
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*
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* \param argument 未使用
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*/
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void Task_CtrlChassis(void *argument) {
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(void)argument; /* 未使用argument，消除警告 */
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const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_CTRL_CHASSIS;
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/* 初始化底盘 */
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Chassis_Init(&chassis, &(task_runtime.cfg.robot_param->chassis),
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&task_runtime.cfg.mech_zero, (float)TASK_FREQ_CTRL_CHASSIS);
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/* 延时一段时间再开启任务 */
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osMessageQueueGet(task_runtime.msgq.can.feedback.chassis, &can, NULL,
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osWaitForever);
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uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
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while (1) {
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#ifdef DEBUG
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/* 记录任务所使用的的栈空间 */
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task_runtime.stack_water_mark.ctrl_chassis =
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osThreadGetStackSpace(osThreadGetId());
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#endif
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osMessageQueueGet(task_runtime.msgq.can.feedback.chassis, &can, NULL, 0);
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/* 读取控制指令、电容反馈、裁判系统 */
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osMessageQueueGet(task_runtime.msgq.referee.chassis, &referee_chassis, NULL,
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0);
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osMessageQueueGet(task_runtime.msgq.cmd.chassis, &chassis_cmd, NULL, 0);
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osMessageQueueGet(task_runtime.msgq.cap_info, &cap, NULL, 0);
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osKernelLock(); /* 锁住RTOS内核防止控制过程中断，造成错误 */
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Chassis_UpdateFeedback(&chassis, &can); /* 更新反馈值 */
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/* 根据遥控器命令计算底盘输出 */
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Chassis_Control(&chassis, &chassis_cmd, tick);
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/* PowerLimit_off */
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Chassis_PowerLimit(&chassis, &cap, &referee_chassis); /* 限制输出功率 */
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Chassis_DumpOutput(&chassis, &chassis_out);
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osKernelUnlock();
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/* 将电机输出值发送到CAN */
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osMessageQueueReset(task_runtime.msgq.can.output.chassis);
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osMessageQueuePut(task_runtime.msgq.can.output.chassis, &chassis_out, 0, 0);
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/* 将底盘数据发送给UI */
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Chassis_DumpUI(&chassis, &chassis_ui);
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osMessageQueueReset(task_runtime.msgq.ui.chassis);
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osMessageQueuePut(task_runtime.msgq.ui.chassis, &chassis_ui, 0, 0);
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tick += delay_tick; /* 计算下一个唤醒时刻 */
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osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
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}
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}
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